diff --git a/CHANGELOG.md b/CHANGELOG.md
index 35ffb960ca..d400ef082c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@ All notable changes to this project are documented in this file.
 - Add the possibility to control a subset of coordinates in `TSID::CoMTask` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/724, https://github.com/ami-iit/bipedal-locomotion-framework/pull/727)
 - Add the possibility to set the maximum number of accepted deadline miss in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726)
 - Add the `getControllerOutput` method to the `TSID::SE3Task` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/740)
+- Finalize the `RobotDynamicsEstimator` library (https://github.com/ami-iit/bipedal-locomotion-framework/pull/743)
 
 ### Changed
 - Remove the possibility to disable the telemetry in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726)